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fkie / multimaster_fkie

ROS stack with FKIE packages for multi-robot (discovering, synchronizing and management GUI)
BSD 3-Clause "New" or "Revised" License
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Unable to discover Master that's on wifi #88

Closed rhklite closed 5 years ago

rhklite commented 5 years ago

I have 3 computers, A, B and Ground Station

Ground Station and A are on Ubuntu 16.04, Kinetic B is on Ubuntu 14.04, Indigo

My Current setup:

  1. A and B are connected to each other via Ethernet, both of them is connected to wifi. Ground Station is connected to the router over Ethernet.
  2. All A,B, and Ground Station's ROS_MASTER_URI is set to their eth0 ip address.

I want at least B to be able to discover ground station so I could sync topics over it

I previously followed the the technical report to set things up, but after setting up with that, the only thing that changed was my ground station wasn't able to discover A or B anymore, so i reverted my settings back.

My current settings on all 3 computers: cat /proc/sys/net/ipv4/ip_forward outputs 0 i.e no ip_forwad cat /proc/sys/net/ipv4/icmp_echo_ignore_broadcasts outputs 1 i.e. no multicast

Hope to someone could help soon.

atiderko commented 5 years ago

If I right understand you have on A and B two network interfaces eth0 and wifi. I'm not sure if your network setup would work. But if you can communicate (using e.g. ping) from Ground Station to the address of ROS_MASTER_URI of A and B, you can try to start master_discovery on Ground Station with robot_hosts parameter, e.g.: rosrun master_discovery master_discovery _robot_hosts:=[A,B]

In this case Ground Station sands discovery beats to A and B using unicast UDP.

rhklite commented 5 years ago

THank you ! This worked!